Object 6098H: Homing Method (Ds402) - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.10.4.2

Object 6098h: homing method (DS402)

Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
The following homing methods are supported:
Method as
per DS402
-128..-9
36..127
82
Brief description: Homing
reserved
-8 move to absolute SSI positionS
-7 move to mechanical stop, following error sets reference
-6 move to mechanical stop, following error sets reference
-5, -4 reserved
-3 move to mechanical stop, with zeroing
-2 set reference point at present position, allowing for lag/following error
-1 homing within a single turn (direction of rotation depends on distance)
0 reserved
1 homing to negative limit switch, with zeroing, negative count direction
2 homing to positive limit switch, with zeroing, positive count direction
3..7 not supported
8 homing to reference switch, with zeroing, positive count direction
9..11 not supported
12 homing to reference switch, with zeroing, negative count direction
13..14 not supported
15..16 reserved
17 homing to negative limit switch, without zeroing, negative count direction NREF = 4, DREF= 0
18 homing to negative limit switch, without zeroing, positive count direction
19..23 not supported
24 homing to reference switch, without zeroing, positive count direction
25..27 not supported
28 homing to reference switch, without zeroing, negative count direction
29..30 not supported
31..32 reserved
33 homing within a single turn, negative count direction
34 homing within a single turn, positive count direction
35 set reference point at present position
reserved
11/2018
6098
h
homing method
VAR
INTEGER8
hm
rw
possible
position units
-128 ... 127
0
yes
Kollmorgen
ASCII command
NREF = 9, DREF = 0
NREF = 9, DREF = 1
NREF = 7
NREF = 6
NREF = 5, DREF= 2
—
NREF = 2, DREF= 0
NREF = 2, DREF= 1
—
NREF = 1, DREF= 1
—
NREF = 1, DREF= 0
—
—
NREF = 4, DREF= 1
—
NREF = 3, DREF= 1
—
NREF = 3, DREF= 0
—
—
NREF = 5, DREF= 0
NREF = 5, DREF= 1
NREF = 0
—
CANopen for S300/S700
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